ignition ros2 bridge
Table of Content
sudo apt install ros-humble-ros-ign
diff drive#
ros2 command
ros2 topic pub -1 /model/vehicle_blue/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0}}"
ign command
ign topic -t "/model/vehicle_green/cmd_vel" -m ignition.msgs.Twist -p "linear: {x: 0.5}, angular: {z: 0.05}"
launch#
bridge#
bridge = Node(
package='ros_gz_bridge',
executable='parameter_bridge',
arguments=['/model/vehicle_blue/cmd_vel@geometry_msgs/msg/Twist@ignition.msgs.Twist',
'/model/vehicle_blue/odometry@nav_msgs/msg/Odometry@ignition.msgs.Odometry',
'/model/vehicle_green/cmd_vel@geometry_msgs/msg/Twist@ignition.msgs.Twist',
'/model/vehicle_green/odometry@nav_msgs/msg/Odometry@ignition.msgs.Odometry'],
parameters=[{'qos_overrides./model/vehicle_blue.subscriber.reliability': 'reliable',
'qos_overrides./model/vehicle_green.subscriber.reliability': 'reliable'}],
output='screen'
)
# topic@ros2 msg type@ignition msg type
/model/vehicle_blue/cmd_vel@geometry_msgs/msg/Twist@ignition.msgs.Twist